diff --git a/seat_car_control/config/control.yaml b/seat_car_control/config/control.yaml
index f3c5235b693bb09061d3732358b6eb2b4c89d063..e539b1a94feb0321ba7b8b8a48c5c6861f084c90 100644
--- a/seat_car_control/config/control.yaml
+++ b/seat_car_control/config/control.yaml
@@ -15,12 +15,11 @@
     axel_distance: 0.26
     wheel_distance: 0.165
     wheel_diameter: 0.063
-    steering_topic: /manual_control/steering
-    speed_topic: /manual_control/speed
-    stop_topic: /manual_control/stop_start
-    yaw_topic: /model_car/yaw    
-    revolutions_topic: /model_car/revolutions
-    twist_topic: /model_car/twist    
+    steering_topic: /steering
+    steering_fb_topic: /steering_angle
+    speed_topic: /speed
+    yaw_topic: /yaw    
+    twist_topic: /twist    
     zero_steer_angle: 0.0
     steer_coeff_a: 0.1343
     steer_coeff_b: -0.9429